CN117250974B

CN117250974B - Unmanned aerial vehicle flight control method and unmanned aerial vehicle in thunderstorm weather

Info

Publication number: CN117250974B
Application number: CN202311242136.9A
Authority: CN
Inventors: 吴宗曼; 单华; 李力; 李思航; 周啟华
Original assignee: Guangzhou Tianhaixiang Aviation Technology Co ltd
Current assignee: Guangzhou Tianhaixiang Aviation Technology Co ltd
Priority date: 2023-09-25
Filing date: 2023-09-25
Publication date: 2024-05-31
Anticipated expiration: 2043-09-25
Also published as: CN117250974A

Abstract

In the method, the unmanned aerial vehicle acquires weather information on a first flight route according to a first flight instruction sent by a user terminal; the unmanned aerial vehicle inputs a first wind speed, a first rainfall and a first magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function to obtain a first target pitch angle, a first target roll angle and a first target course angle of the unmanned aerial vehicle in the flight process; the unmanned aerial vehicle obtains a first flight scheme according to a first target pitch angle, a first target roll angle and a first target course angle; the unmanned aerial vehicle flies by using the first flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the first target pitch angle, the first target roll angle and the first target course angle, and the stability of the unmanned aerial vehicle in the flight process is controlled in thunderstorm weather is realized.

Description

Unmanned aerial vehicle flight control method and unmanned aerial vehicle in thunderstorm weather

Technical Field

The application belongs to the field of unmanned aerial vehicle flight control, and particularly relates to an unmanned aerial vehicle flight control method and an unmanned aerial vehicle in thunderstorm weather.

Background

With the continuous development of science and technology, unmanned aerial vehicles are widely cited in a plurality of fields, and related unmanned aerial vehicle flight control systems are remarkably improved, and the distance from flight control and the stability of the flight process are greatly improved.

In the related art, unmanned aerial vehicle flight control generally adopts autonomous navigation and obstacle avoidance technology to realize autonomous flight, plan a flight path, avoid obstacles and the like. Through technologies such as visual sensor, laser radar and infrared sensor for unmanned aerial vehicle can more accurate perception surrounding environment and make corresponding flight decision.

However, the unmanned aerial vehicle can be stably controlled under the condition of good weather conditions in the prior art, and under some specific extreme environments, such as thunderstorm weather, the unmanned aerial vehicle can not be controlled to fly stably under such extreme weather environments in the prior art, and particularly, the unmanned aerial vehicle can be greatly weakened when being applied to acquiring disaster information after natural disasters occur. Therefore, the flight control technology of the unmanned aerial vehicle is particularly important in extreme environments.

Disclosure of Invention

The application provides an unmanned aerial vehicle flight control method and an unmanned aerial vehicle in thunderstorm weather, and realizes the control of the stability of the unmanned aerial vehicle flight process in thunderstorm weather.

In a first aspect, the application provides a flight control method of an unmanned aerial vehicle in thunderstorm weather, wherein the unmanned aerial vehicle acquires weather information on a first flight route according to a first flight instruction sent by a user terminal, the first flight instruction comprises position information of a destination, and the weather information comprises a plurality of first wind speeds, a plurality of first rainfall and a plurality of first magnetic field intensity on the first flight route; the unmanned aerial vehicle inputs a first wind speed, a first rainfall and a first magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function to obtain a first target pitch angle, a first target roll angle and a first target course angle of the unmanned aerial vehicle in the flight process, wherein the first wind speed, the first rainfall and the first magnetic field intensity are any one of the first wind speeds, the first rainfall and the first magnetic field intensity; the unmanned aerial vehicle obtains a first flight scheme according to the first target pitch angle, the first target roll angle and the first target course angle; the unmanned aerial vehicle flies by using the first flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the first target pitch angle, the first target roll angle and the first target course angle.

Through adopting above-mentioned technical scheme, confirm the weather information on the first flight route, with the first wind speed of current position on the first flight route, first rainfall and first magnetic field intensity input flight control function, obtain this unmanned aerial vehicle at the first target pitch angle of flight in-process, first target roll angle and first target course angle, and then obtain first flight scheme, when unmanned aerial vehicle uses first flight scheme to fly, can real-time adjustment flight gesture in order to guarantee the steady of flight, realized controlling unmanned aerial vehicle flight process's under thunderstorm weather stationarity.

With reference to some embodiments of the first aspect, in some embodiments, the flight control function is:

In the formula, theta _g is the target pitch angle, phi _g is the target roll angle, phi _g is the target course angle, theta is the actual pitch angle, phi is the actual roll angle, phi is the actual course angle, As pitch transfer function,/>As roll angle transfer function,/>As a course angle transfer function, delta _e is a rudder lifting angle, delta _a is an aileron rudder angle, delta _r is a rudder angle,/>/>Gain for proportional link,/>/>The differential link gain is C is wind speed, V is rainfall, and T is magnetic field intensity.

By adopting the technical scheme, parameters influencing the flight of the unmanned aerial vehicle are input into the flight control function, so that the accuracy of the target pitch angle, the target roll angle and the target course angle is ensured, and the unmanned aerial vehicle can realize stable flight when the flight attitude is adjusted according to the target pitch angle, the target roll angle and the target course angle.

With reference to some embodiments of the first aspect, in some embodiments, after the unmanned aerial vehicle flies using the first flight scheme to adjust the flight attitude of the unmanned aerial vehicle according to the first target pitch angle, the first target roll angle, and the first target heading angle, the method further includes: under the condition that the unmanned aerial vehicle confirms that a second flight instruction sent by the user terminal is received, the unmanned aerial vehicle determines that a route with the shortest flight distance for the unmanned aerial vehicle to reach the destination is a second flight route; the unmanned aerial vehicle acquires weather information on the second flight route, wherein the weather information comprises a plurality of second wind speeds, a plurality of second rainfall and a plurality of second magnetic field intensities on the second flight route; the unmanned aerial vehicle inputs a second wind speed, a second rainfall and a second magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function to obtain a second target pitch angle, a second target roll angle and a second target course angle of the unmanned aerial vehicle in the flight process, wherein the second wind speed, the second rainfall and the second magnetic field intensity are any one of the plurality of second wind speeds, the plurality of second rainfall and the plurality of second magnetic field intensity; the unmanned aerial vehicle obtains a second flight scheme according to the second target pitch angle, the second target roll angle and the second target course angle; the unmanned aerial vehicle flies by using the second flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the second target pitch angle, the second target roll angle and the second target course angle.

Through adopting above-mentioned technical scheme, when the flight distance that the user needs unmanned aerial vehicle is the shortest, unmanned aerial vehicle confirms that unmanned aerial vehicle reaches the route that the flight distance is shortest is the second flight route, acquire the weather information on this second flight route again, input flight control function with the second wind speed of current position on the second flight route, second rainfall and second magnetic field intensity, obtain this unmanned aerial vehicle at the second target pitch angle of flight in-process, second target roll angle and second target course angle, and then obtain the second flight scheme, when unmanned aerial vehicle uses the second flight scheme to fly, can real-time adjustment flight gesture in order to guarantee the steady of flight, realized controlling unmanned aerial vehicle flight process's under thunderstorm weather stationarity.

With reference to some embodiments of the first aspect, in some embodiments, after the unmanned aerial vehicle flies using the first flight scheme to adjust the flight attitude of the unmanned aerial vehicle according to the first target pitch angle, the first target roll angle, and the first target heading angle, the method further includes: under the condition that the unmanned aerial vehicle confirms to receive a third flight instruction sent by the user terminal, acquiring a route with the minimum wind speed, the minimum rainfall and the minimum magnetic field intensity in a preset range, wherein the preset range is a circular range with the destination as a circle center and the distance from the destination to a take-off place of the unmanned aerial vehicle as a radius; the unmanned aerial vehicle determines a route with the minimum wind speed, the minimum rainfall and the minimum magnetic field intensity as a third flight route; the unmanned aerial vehicle acquires weather information on the third flight route, wherein the weather information comprises a plurality of third wind speeds, a plurality of third rainfall and a plurality of third magnetic field intensities on the third flight route; the unmanned aerial vehicle inputs a third wind speed, a third rainfall and a third magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function to obtain a third target pitch angle, a third target roll angle and a third target course angle of the unmanned aerial vehicle in the flight process, wherein the third wind speed, the third rainfall and the third magnetic field intensity are any one of the plurality of third wind speeds, the plurality of third rainfall and the plurality of third magnetic field intensity; the unmanned aerial vehicle obtains a third flight scheme according to the third target pitch angle, the third target roll angle and the third target course angle; the unmanned aerial vehicle flies by using the third flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the third target pitch angle, the third target roll angle and the third target course angle.

Through adopting above-mentioned technical scheme, when the degree of difficulty that user's unmanned aerial vehicle needed the flight is minimum, unmanned aerial vehicle confirms that the minimum, rainfall and the minimum route of magnetic field intensity of preset within range be the third flight route, obtain the weather information on the third flight route again, input flight control function with the third wind speed of current position on the third flight route, third rainfall and third magnetic field intensity, obtain this unmanned aerial vehicle in the third target pitch angle of flight in-process, third target roll angle and third target course angle, and then obtain third flight scheme, when unmanned aerial vehicle uses third flight scheme to fly, can adjust the flight gesture in real time in order to guarantee the steady of flight, realized the stationarity of control unmanned aerial vehicle flight process under thunderstorm weather.

With reference to some embodiments of the first aspect, in some embodiments, after the unmanned aerial vehicle flies using the first flight scheme to adjust the flight attitude of the unmanned aerial vehicle according to the first target pitch angle, the first target roll angle, and the first target heading angle, the method further includes: under the condition that the unmanned aerial vehicle confirms to receive a fourth flight instruction sent by the user terminal, acquiring a route with the minimum rainfall and the shortest flight distance of the unmanned aerial vehicle to the destination in the preset range; the unmanned aerial vehicle determines a route with the minimum rainfall and the shortest flight distance of the unmanned aerial vehicle reaching the destination as a fourth flight route; the unmanned aerial vehicle acquires weather information on the fourth flight route, wherein the weather information comprises a plurality of fourth wind speeds, a plurality of fourth rainfall and a plurality of fourth magnetic field intensities on the fourth flight route; the unmanned aerial vehicle inputs a fourth wind speed, a fourth rainfall and a fourth magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function to obtain a fourth target pitch angle, a fourth target roll angle and a fourth target course angle of the unmanned aerial vehicle in the flight process, wherein the fourth wind speed, the fourth rainfall and the fourth magnetic field intensity are any one of the fourth wind speeds, the fourth rainfall and the fourth magnetic field intensity; the unmanned aerial vehicle obtains a fourth flight scheme according to the fourth target pitch angle, the fourth target rolling angle and the fourth target course angle; the unmanned aerial vehicle flies by using the fourth flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the fourth target pitch angle, the fourth target roll angle and the fourth target course angle.

Through adopting above-mentioned technical scheme, when the user needs the minimum route of unmanned aerial vehicle damage when flying to unmanned aerial vehicle, unmanned aerial vehicle confirms that this rainfall is minimum and this unmanned aerial vehicle reaches the minimum route of flight distance of this destination in the scope of predetermineeing and be the fourth flight route, obtain the weather information on the fourth flight route again, input the fourth wind speed of current position on the fourth flight route, fourth rainfall and fourth magnetic field intensity flight control function, obtain this unmanned aerial vehicle's fourth target pitch angle in the flight process, fourth target roll angle and fourth target course angle, and then obtain fourth flight scheme, when unmanned aerial vehicle uses fourth flight scheme to fly, can real-time adjustment flight gesture in order to guarantee the steady of flight, realized the stationarity of control unmanned aerial vehicle flight process under thunderstorm weather.

With reference to some embodiments of the first aspect, in some embodiments, after the unmanned aerial vehicle obtains the first flight plan according to the first target pitch angle, the first target roll angle, and the first target heading angle, the method further includes: the unmanned aerial vehicle determines the amount of electricity required for the first flight scheme; the unmanned aerial vehicle judges whether the electric quantity required by the first flight scheme is larger than the residual electric quantity of the unmanned aerial vehicle; if the electric quantity required by the first flight scheme is smaller than the residual electric quantity of the unmanned aerial vehicle, the unmanned aerial vehicle immediately returns to the flying spot of the unmanned aerial vehicle.

Through adopting above-mentioned technical scheme, after preparing first flight scheme, judge whether unmanned aerial vehicle uses the required electric quantity of first flight scheme to be greater than unmanned aerial vehicle's residual electric quantity, if the required electric quantity of using of first flight scheme is less than unmanned aerial vehicle's residual electric quantity, then this unmanned aerial vehicle returns unmanned aerial vehicle's take off the flying spot immediately, avoids leading to unmanned aerial vehicle crash because unmanned aerial vehicle's electric quantity is not enough in the flight process.

With reference to some embodiments of the first aspect, in some embodiments, if the amount of electricity required for the first flight scheme is smaller than the remaining amount of electricity of the unmanned aerial vehicle, the method further includes, after the unmanned aerial vehicle immediately returns to the departure point of the unmanned aerial vehicle: the unmanned aerial vehicle returns to the unmanned aerial vehicle's departure point using the first flight scheme.

Through adopting above-mentioned technical scheme, when unmanned aerial vehicle returns the departure point, fly according to first flight scheme, guaranteed unmanned aerial vehicle's stability of flying in the way of returning.

In a second aspect, an embodiment of the present application provides a unmanned aerial vehicle, including: the system comprises an acquisition module, a first control module and a second control module, wherein the acquisition module is used for acquiring weather information on a first flight route according to a first flight instruction sent by a user terminal, the first flight instruction comprises position information of a destination, and the weather information comprises a plurality of first wind speeds, a plurality of first rainfall and a plurality of first magnetic field intensity on the first flight route;

The calculation module is used for inputting a first wind speed, a first rainfall and a first magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function by the unmanned aerial vehicle to obtain a first target pitch angle, a first target roll angle and a first target course angle of the unmanned aerial vehicle in the flight process, wherein the first wind speed, the first rainfall and the first magnetic field intensity are any one of the first wind speeds, the first rainfall and the first magnetic field intensity;

The processing module is used for the unmanned aerial vehicle to obtain a first flight scheme according to the first target pitch angle, the first target rolling angle and the first target course angle;

The control module is used for enabling the unmanned aerial vehicle to fly by using the first flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the first target pitch angle, the first target roll angle and the first target course angle.

In a third aspect, an embodiment of the present application provides an unmanned aerial vehicle, including: one or more processors and memory; the memory is coupled to the one or more processors, the memory for storing computer program code comprising computer instructions that the one or more processors call to cause the drone to perform the method as described in the first aspect and any possible implementation of the first aspect.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium comprising instructions that, when executed on a drone, cause the drone to perform a method as described in the first aspect and any possible implementation of the first aspect.

One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:

1. The application provides a flight control method of an unmanned aerial vehicle in thunderstorm weather, which comprises the steps of determining weather information on a first flight route, inputting a first wind speed, a first rainfall and a first magnetic field intensity at a current position on the first flight route into a flight control function to obtain a first target pitch angle, a first target roll angle and a first target course angle of the unmanned aerial vehicle in the flight process, further obtaining a first flight scheme, and adjusting the flight attitude in real time to ensure the flight stability when the unmanned aerial vehicle flies by using the first flight scheme, thereby realizing the control of the flight process stability of the unmanned aerial vehicle in the thunderstorm weather.

2. The application provides a flight control method of an unmanned aerial vehicle in thunderstorm weather, which comprises the steps that when a user needs that the flight distance of the unmanned aerial vehicle is shortest, the unmanned aerial vehicle determines that a route with the shortest flight distance to a destination is a second flight route, weather information on the second flight route is acquired, a second wind speed, a second rainfall and a second magnetic field intensity at the current position on the second flight route are input into a flight control function, a second target pitch angle, a second target roll angle and a second target course angle of the unmanned aerial vehicle in the flight process are obtained, a second flight scheme is obtained, when the unmanned aerial vehicle is flown by using the second flight scheme, the flight gesture is adjusted in real time to ensure the flight stability, and the stability of the unmanned aerial vehicle in the flight process is controlled in thunderstorm weather.

3. The application provides a flight control method of an unmanned aerial vehicle in thunderstorm weather, which comprises the steps that when the difficulty of the unmanned aerial vehicle in flight required by a user is minimum, the unmanned aerial vehicle determines a route with minimum wind speed, minimum rainfall and minimum magnetic field intensity in a preset range as a third flight route, weather information on the third flight route is acquired, the third wind speed, the third rainfall and the third magnetic field intensity at the current position on the third flight route are input into a flight control function, a third target pitch angle, a third target roll angle and a third target course angle of the unmanned aerial vehicle in the flight process are obtained, a third flight scheme is further obtained, and when the unmanned aerial vehicle is in flight by using the third flight scheme, the flight gesture is adjusted in real time to ensure the stability of the flight, and the stability of the unmanned aerial vehicle in the flight process is controlled in thunderstorm weather is realized.

4. The application provides a flight control method of an unmanned aerial vehicle in thunderstorm weather, which comprises the steps that when a user needs a route with minimum damage to the unmanned aerial vehicle during flight of the unmanned aerial vehicle, the unmanned aerial vehicle determines that the route with minimum rainfall and the shortest flight distance of the unmanned aerial vehicle reaching the destination in a preset range is a fourth flight route, then weather information on the fourth flight route is acquired, the fourth wind speed, the fourth rainfall and the fourth magnetic field intensity at the current position on the fourth flight route are input into a flight control function, a fourth target pitch angle, a fourth target roll angle and a fourth target course angle of the unmanned aerial vehicle in the flight process are obtained, a fourth flight scheme is obtained, and when the unmanned aerial vehicle is flown by using the fourth flight scheme, the flight attitude is adjusted in real time to ensure the flight stability, and the control of the unmanned aerial vehicle in the thunderstorm weather is realized.

Drawings

Fig. 1 is a schematic flow chart of a method for controlling unmanned aerial vehicle flight in thunderstorm weather according to an embodiment of the application.

Fig. 2 is a schematic flow chart of a method for controlling unmanned aerial vehicle flight in thunderstorm weather according to an embodiment of the application.

Fig. 3 is a schematic flow chart of a method for controlling unmanned aerial vehicle flight in thunderstorm weather according to an embodiment of the application.

Fig. 4 is a schematic flow chart of a method for controlling unmanned aerial vehicle flight in thunderstorm weather according to an embodiment of the application.

Fig. 5 is a schematic structural diagram of a functional module of an unmanned aerial vehicle according to an embodiment of the present application.

Fig. 6 is a schematic structural diagram of an entity device of an unmanned aerial vehicle according to an embodiment of the present application.

Detailed Description

The terminology used in the following embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates to the contrary. It should also be understood that the term "and/or" as used in this disclosure is intended to encompass any or all possible combinations of one or more of the listed items.

The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature, and in the description of embodiments of the application, unless otherwise indicated, the meaning of "a plurality" is two or more.

First, some terms related to the present application will be explained:

Pitch angle transfer function, pitch angle (PITCH ANGLE) refers to the angle at which an aircraft or vessel rotates about a transverse axis. The pitch transfer function is a mathematical function used to describe the relationship between the system inputs and outputs, and is used to describe the relationship between the control inputs and the pitch outputs.

Roll angle transfer function, roll angle refers to the angle of rotation of an aircraft or vessel about a longitudinal axis. The transfer function is a mathematical function used to describe the relationship between the system inputs and outputs. In aircraft or marine control, the roll angle transfer function refers to a relationship function between a control input (e.g., a maneuver instruction) and a roll angle output.

Course angle transfer function, course angle refers to the angle at which an aircraft or ship rotates about a vertical axis. The heading angle transfer function is a mathematical function used to describe the relationship between the system inputs and outputs, and is used to describe the relationship between the control inputs and the heading angle outputs.

Rudder angle, rudder angle (Elevator angle), is one of the control surfaces of an aircraft, such as an airplane, for controlling the elevating movement of the fuselage. The elevator is typically positioned on a horizontal stabilizer surface at the tail of the aircraft, and by varying the angle of the elevator, an elevator force can be generated, thereby changing the pitch attitude of the aircraft. The rudder angle can be adjusted by manipulating the flight stick or autopilot system of the aircraft. When the elevator deflects downwards, a downward lifting force is generated, so that the aircraft generates pitching motion; when the elevator deflects upwards, an upward lifting force is generated, so that the aircraft generates a pitching motion. The angle of the elevator can be adjusted according to the flight mission and the design requirements of the aircraft to achieve the required elevator control effect. Typically, when the pilot pulls the aircraft's stick rearward, the elevator deflects upward, creating upward lift to raise the aircraft; when the pilot pushes the joystick forward, the elevator deflects downward, producing downward lift, causing the aircraft to descend.

Aileron rudder angle the aileron rudder angle (Aileron angle) is one of the control surfaces of an aircraft, such as an aircraft, for controlling the roll motion of the aircraft about a longitudinal axis. Ailerons are typically located at the wing tip of an aircraft, with two ailerons symmetrically distributed outboard of the two wings. The aileron rudder angle can be adjusted by manipulating the flight stick or autopilot system of the aircraft. When the aileron deflects downwards, the lift force of one wing is reduced, and the lift force of the other wing is increased, so that the airplane generates rolling motion; when the aileron deflects upwards, the lift of one wing increases and the lift of the other wing decreases, thus causing the aircraft to roll in opposite directions. The angle of the aileron rudder angle can be adjusted according to the flight mission and the design requirement of the aircraft so as to realize the required rolling control effect. Typically, when the pilot pushes the aircraft's joystick to the left or right, the ailerons deflect downward, creating a lift differential in the corresponding direction, causing the aircraft to roll.

Rudder angle the rudder angle (Rudder angle) is one of the control surfaces of an aircraft, such as an aircraft, for controlling the yaw movement of the aircraft about a vertical axis. Rudders are typically located at the tail of an aircraft for changing the heading of the aircraft. The rudder angle can be adjusted by manipulating the pedals or autopilot system of the aircraft. When the rudder deflects leftwards, the tail part of the aircraft can move rightwards, and right side force is generated, so that the aircraft yaw towards the left; when the rudder deflects to the right, the tail of the aircraft moves to the left, creating a lateral force to the left, causing the aircraft to yaw toward the right. The angle of the rudder angle can be adjusted according to the flight mission and the design requirement of the airplane so as to realize the required yaw control effect. Typically, when the pilot steps on the pedals of the aircraft to the left or right, the rudder will deflect accordingly, creating a lateral force, causing the aircraft to yaw.

Proportional link gain, which is a parameter used in a control system to adjust the proportional relationship between an input signal and an output signal. In the control system, the proportional link is the simplest control link, and the output signal is obtained by multiplying the input signal with the proportional gain. The proportional link gain is used for adjusting the sensitivity and response speed of the control system. Increasing the proportional link gain may enhance the sensitivity of the system so that the output signal responds more quickly to changes in the input signal. However, if the proportional link gain is too large, the system may have overshoot or oscillation problems, resulting in unstable system. Therefore, selecting an appropriate proportional link gain is an important consideration in the design of the control system. The specific value of the proportional link gain can be adjusted according to the characteristics, control requirements and performance indexes of the system. Typically, the choice of gain value is determined by experimental or analog analysis. In practical applications, the proportional link gain is usually adjusted by a designer of the control system according to the requirements to achieve the desired control effect.

Differential link gain, which is a parameter used in a control system to adjust the degree of influence of a differential portion of an input signal on an output signal. In a control system, a differential link is used to enhance the response of the system to the rate of change of the input signal, thereby improving the stability of the system and suppressing oscillations of the system. The effect of the differential link gain is to adjust the sensitivity of the control system to the rate of change of the input signal. Increasing the differential link gain may enhance the response of the system to the rate of change of the input signal, allowing the system to adjust the output signal faster to accommodate the change in the input signal. However, if the differential link gain is too large, the system may be too sensitive to noise and interference, resulting in instability of the system. Therefore, when selecting the differential link gain, the characteristics and control requirements of the system need to be comprehensively considered. The specific value of the differential link gain may be determined by experimental or analog analysis. Generally, the selection of gain values needs to be adjusted according to the requirements and performance indicators of the control system. In practical applications, the differential link gain is usually adjusted by a designer of the control system according to specific situations, so as to meet the requirements of stability and response speed of the system.

In the following, with reference to fig. 1, a description is given of how to control the flight of the unmanned aerial vehicle in the case of thunderstorm weather in the embodiment of the present application:

S101, the unmanned aerial vehicle acquires weather information on a first flight route according to a first flight instruction sent by a user terminal; the unmanned aerial vehicle obtains weather information on a first flight route according to a first flight instruction sent by a user terminal, the first flight instruction comprises position information of a destination, the weather information comprises a plurality of first wind speeds, a plurality of first rainfall and a plurality of first magnetic field intensity on the first flight route, and the first flight instruction is a flight instruction sent to the unmanned aerial vehicle by a user at the user terminal, so that the unmanned aerial vehicle flies according to the first flight instruction.

The first flight route is a flight route preset by a user at a user terminal, different wind speeds, rainfall and magnetic field intensity exist on the first flight route, and all environmental factors can influence the flight of the unmanned aerial vehicle. For ease of understanding, the following is illustrative: assuming a first wind speed of 20 meters per second, 30 meters per second, 15 meters per second; the first rainfall has 5mm per hour, 10 mm per hour, 12 mm per hour; the first magnetic field strength is 30 microtesla, 26 microtesla, and 40 microtesla.

It should be understood that the above-mentioned user terminal is a mobile terminal capable of performing information interaction with the unmanned aerial vehicle, such as a mobile phone, a tablet, and a unmanned aerial vehicle controller, etc., which are not limited herein.

S102, inputting a first wind speed, a first rainfall and a first magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function by the unmanned aerial vehicle to obtain a first target pitch angle, a first target roll angle and a first target course angle of the unmanned aerial vehicle in the flight process; the unmanned aerial vehicle inputs a first wind speed, a first rainfall and a first magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function to obtain a first target pitch angle, a first target roll angle and a first target course angle of the unmanned aerial vehicle in the flight process, wherein the first wind speed, the first rainfall and the first magnetic field intensity are any one of the first wind speeds, the first rainfall and the first magnetic field intensity, and the flight control function is as follows:

In the formula, theta _g is a target pitch angle, phi _g is a target roll angle, phi _g is a target course angle, theta is an actual pitch angle, phi is an actual roll angle, phi is an actual course angle, As pitch transfer function,/>As a roll angle transfer function,As a course angle transfer function, delta _e is a rudder lifting angle, delta _a is an aileron rudder angle, delta _r is a rudder angle,/>/>Gain for proportional link,/>/>The differential link gain is C is wind speed, V is rainfall, and T is magnetic field intensity.

The above example is received, for example, the first wind speed, the first rainfall and the first magnetic field intensity of the current position of the unmanned aerial vehicle are respectively 20 meters per second, 5 millimeters per hour and 30 microtesla, the unmanned aerial vehicle inputs the first wind speed, the first rainfall and the first magnetic field intensity of the current position of the unmanned aerial vehicle into the flight control function respectively 20 meters per second, 5 millimeters per hour and 30 microtesla, and a first target pitch angle of the unmanned aerial vehicle in the flight process is obtained and is 15 degrees, a first target roll angle is 30 degrees, and a first target course angle is 5 degrees.

S103, the unmanned aerial vehicle obtains a first flight scheme according to a first target pitch angle, a first target roll angle and a first target course angle;

the unmanned aerial vehicle obtains a first flight scheme according to the first target pitch angle, the first target roll angle and the first target course angle, and in the first flight scheme, the unmanned aerial vehicle adjusts the flight attitude according to the first target pitch angle, the first target roll angle and the first target course angle.

S104, the unmanned aerial vehicle flies by using a first flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the first target pitch angle, the first target roll angle and the first target course angle.

The unmanned aerial vehicle flies by using a first flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the first target pitch angle, the first target roll angle and the first target course angle. When the environment of the position changes suddenly in the flight process and influences the flight of the unmanned aerial vehicle, the unmanned aerial vehicle can adjust the flight attitude according to the first target pitch angle, the first target roll angle and the first target course angle, so that the first target pitch angle, the first target roll angle and the first target course angle are achieved to ensure the stability of the flight process.

In the above embodiment, weather information on a first flight route is determined, a first wind speed, a first rainfall and a first magnetic field intensity at a current position on the first flight route are input into a flight control function, a first target pitch angle, a first target roll angle and a first target course angle of the unmanned aerial vehicle in the flight process are obtained, a first flight scheme is further obtained, when the unmanned aerial vehicle flies by using the first flight scheme, the flight attitude can be adjusted in real time to ensure the stable flight, and the stability of the unmanned aerial vehicle flight process is controlled under the thunderstorm weather is realized.

In addition, in some embodiments, the user may have other requirements on the flight scheme, such as the minimum required flight distance or the minimum difficulty in flight or the minimum damage to the unmanned aerial vehicle, and it is understood that although the user has different requirements on the flight scheme, the method and steps for making the flight scheme are substantially the same, and the following description will first describe that the user needs the flight scheme to be the minimum flight distance in the embodiment of the present application:

fig. 2 is a schematic flow chart of a method for controlling flight of a unmanned aerial vehicle in thunderstorm weather according to an embodiment of the application.

S201, under the condition that the unmanned aerial vehicle confirms that a second flight instruction sent by the user terminal is received, the unmanned aerial vehicle determines that a route with the shortest flight distance for the unmanned aerial vehicle to reach a destination is a second flight route;

And under the condition that the unmanned aerial vehicle confirms that the second flight instruction sent by the user terminal is received, the unmanned aerial vehicle determines that the route with the shortest flight distance for the unmanned aerial vehicle to reach the destination is the second flight route. The second flight instruction is a flight instruction sent by a user to the unmanned aerial vehicle at the user terminal, so that the unmanned aerial vehicle flies according to the second flight instruction.

S202, the unmanned aerial vehicle acquires weather information on a second flight route;

The unmanned aerial vehicle acquires weather information on a second flight path, wherein the weather information comprises a plurality of second wind speeds, a plurality of second rainfall and a plurality of second magnetic field intensities on the second flight path. The following illustrates another example: assuming a second wind speed of 23 meters per second, 24 meters per second, 13 meters per second; the second rainfall has 6mm per hour, 11 mm per hour, 16 mm per hour; the second magnetic field strength is 50 microtesla, 36 microtesla, 44 microtesla.

S203, the unmanned aerial vehicle inputs a second wind speed, a second rainfall and a second magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function to obtain a second target pitch angle, a second target roll angle and a second target course angle of the unmanned aerial vehicle in the flight process; the unmanned aerial vehicle inputs a second wind speed, a second rainfall and a second magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function to obtain a second target pitch angle, a second target roll angle and a second target course angle of the unmanned aerial vehicle in the flight process. And (3) receiving the above example, the unmanned aerial vehicle inputs a second wind speed of 24 meters per second, a second rainfall of 16 millimeters per hour and a second magnetic field intensity of 44 microtesla into a flight control function to obtain a second target pitch angle of 12 degrees, a second target roll angle of 34 degrees and a second target course angle of 9 degrees.

S204, the unmanned aerial vehicle obtains a second flight scheme according to a second target pitch angle, a second target roll angle and a second target course angle;

The unmanned aerial vehicle obtains a second flight scheme according to the second target pitch angle, the second target roll angle and the second target course angle, and in the second flight scheme, the unmanned aerial vehicle adjusts the flight attitude according to the second target pitch angle, the second target roll angle and the second target course angle.

S205, the unmanned aerial vehicle flies by using a second flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the second target pitch angle, the second target roll angle and the second target course angle.

And S104, the unmanned aerial vehicle flies by using a second flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the second target pitch angle, the second target roll angle and the second target course angle. When the environment of the position changes suddenly in the flight process and influences the flight of the unmanned aerial vehicle, the unmanned aerial vehicle can adjust the flight attitude according to the second target pitch angle, the second target roll angle and the second target course angle, so that the second target pitch angle, the second target roll angle and the second target course angle are achieved to ensure the stability of the flight process.

In the above embodiment, when the flight distance of the unmanned aerial vehicle required by the user is shortest, the unmanned aerial vehicle determines that the route with the shortest flight distance from the unmanned aerial vehicle to the destination is a second flight route, acquires weather information on the second flight route, inputs a second wind speed, a second rainfall and a second magnetic field intensity at the current position on the second flight route into a flight control function to obtain a second target pitch angle, a second target roll angle and a second target course angle of the unmanned aerial vehicle in the flight process, and further obtains a second flight scheme, and when the unmanned aerial vehicle flies by using the second flight scheme, the flight gesture can be adjusted in real time to ensure the flight stability, so that the stability of the unmanned aerial vehicle in the flight process is controlled in thunderstorm weather.

The following describes, with reference to fig. 3, a flight scheme required by a user in an embodiment of the present application to be the lowest flight difficulty:

Fig. 3 is a schematic flow chart of a method for controlling flight of a unmanned aerial vehicle in thunderstorm weather according to an embodiment of the application.

S301, under the condition that the unmanned aerial vehicle confirms that a third flight instruction sent by a user terminal is received, acquiring a route with minimum wind speed, minimum rainfall and minimum magnetic field intensity in a preset range;

Under the condition that the unmanned aerial vehicle confirms that a third flight instruction sent by the user terminal is received, acquiring a route with the minimum wind speed, the minimum rainfall and the minimum magnetic field intensity in a preset range, wherein the route is a flight route with the lowest flight difficulty of the unmanned aerial vehicle in all routes. The third flight instruction is a flight instruction sent by a user to the unmanned aerial vehicle at the user terminal, so that the unmanned aerial vehicle flies according to the third flight instruction.

S302, determining a route with minimum wind speed, minimum rainfall and minimum magnetic field intensity as a third flight route by the unmanned aerial vehicle;

s303, the unmanned aerial vehicle acquires weather information on a third flight route;

S304, the unmanned aerial vehicle inputs a third wind speed, a third rainfall and a third magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function to obtain a third target pitch angle, a third target roll angle and a third target course angle of the unmanned aerial vehicle in the flight process;

S305, the unmanned aerial vehicle obtains a third flight scheme according to a third target pitch angle, a third target roll angle and a third target course angle; s306, the unmanned aerial vehicle flies by using a third flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the third target pitch angle, the third target roll angle and the third target course angle.

This embodiment has the same steps as the above embodiment, except that the acquisition of different data types is different, and will not be described here again.

In the above embodiment, when the difficulty of the unmanned aerial vehicle in the flight is minimum, the unmanned aerial vehicle determines that the route with the minimum wind speed, the minimum rainfall and the minimum magnetic field intensity in the preset range is the third flight route, acquires the weather information on the third flight route, inputs the third wind speed, the third rainfall and the third magnetic field intensity at the current position on the third flight route into the flight control function, and obtains the third target pitch angle, the third target roll angle and the third target course angle of the unmanned aerial vehicle in the flight process, so as to obtain the third flight scheme, and when the unmanned aerial vehicle uses the third flight scheme to fly, the flight gesture can be adjusted in real time to ensure the stability of the flight, thereby realizing the control of the unmanned aerial vehicle in the thunderstorm weather.

The following describes, in conjunction with fig. 4, a user's flight plan required for a minimum damage to a drone in an embodiment of the present application:

fig. 4 is a schematic flow chart of a method for controlling flight of a unmanned aerial vehicle in thunderstorm weather according to an embodiment of the application.

S401, under the condition that the unmanned aerial vehicle confirms that a fourth flight instruction sent by a user terminal is received, acquiring a route with the minimum rainfall in a preset range and the shortest flight distance of the unmanned aerial vehicle to a destination;

And under the condition that the unmanned aerial vehicle confirms that the fourth flight instruction sent by the user terminal is received, acquiring a route with the minimum rainfall in a preset range and the shortest flight distance of the unmanned aerial vehicle to the destination. It can be appreciated that unmanned aerial vehicle is high accuracy electronic equipment, if unmanned aerial vehicle seriously intakes, can burn out unmanned aerial vehicle's electronic module, leads to unmanned aerial vehicle crash, and unmanned aerial vehicle's time of flight overlength can produce irreversible influence to unmanned aerial vehicle's battery in addition, therefore, this route is the minimum and unmanned aerial vehicle reaches the route that the distance of flight is shortest of destination for the rainfall. The fourth flight instruction is a flight instruction sent by a user to the unmanned aerial vehicle at the user terminal, so that the unmanned aerial vehicle flies according to the fourth flight instruction.

S402, the unmanned aerial vehicle determines a route with the minimum rainfall and the shortest flight distance of the unmanned aerial vehicle reaching the destination as a fourth flight route;

s403, the unmanned aerial vehicle acquires weather information on a fourth flight route;

s404, the unmanned aerial vehicle inputs a fourth wind speed, a fourth rainfall and a fourth magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function to obtain a fourth target pitch angle, a fourth target roll angle and a fourth target course angle of the unmanned aerial vehicle in the flight process;

S405, the unmanned aerial vehicle obtains a fourth flight scheme according to a fourth target pitch angle, a fourth target roll angle and a fourth target course angle; s406, the unmanned aerial vehicle flies by using a fourth flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the fourth target pitch angle, the fourth target roll angle and the fourth target course angle.

Also, this embodiment has the same steps as the above embodiment, except that the acquisition of different data types is different, and will not be described here again.

In the above embodiment, when the user needs a route with the minimum damage to the unmanned aerial vehicle during the flight of the unmanned aerial vehicle, the unmanned aerial vehicle determines that the rainfall is minimum in a preset range, and the route with the shortest flight distance for the unmanned aerial vehicle to reach the destination is a fourth flight route, then obtains weather information on the fourth flight route, inputs the fourth wind speed, the fourth rainfall and the fourth magnetic field intensity at the current position on the fourth flight route into a flight control function, and obtains a fourth target pitch angle, a fourth target roll angle and a fourth target course angle of the unmanned aerial vehicle during the flight, so as to obtain a fourth flight scheme.

In addition, when the unmanned aerial vehicle executes a flight mission, the flight distance and the time length of the unmanned aerial vehicle are limited by the residual electric quantity, so that in some embodiments, the unmanned aerial vehicle determines the electric quantity required to be used by the first flight scheme; the unmanned aerial vehicle judges whether the electric quantity required by the first flight scheme is larger than the residual electric quantity of the unmanned aerial vehicle; if the electric quantity required by the first flight scheme is smaller than the residual electric quantity of the unmanned aerial vehicle, the unmanned aerial vehicle immediately returns to the flying spot of the unmanned aerial vehicle.

In the above embodiment, after the first flight scheme is manufactured, it is determined whether the electric quantity required by the unmanned aerial vehicle to use the first flight scheme is greater than the remaining electric quantity of the unmanned aerial vehicle, if the electric quantity required by the first flight scheme is less than the remaining electric quantity of the unmanned aerial vehicle, the unmanned aerial vehicle immediately returns to the flying spot of the unmanned aerial vehicle, and the unmanned aerial vehicle is prevented from crashing due to insufficient electric quantity of the unmanned aerial vehicle in the flight process.

In the above embodiment, if the electric quantity required by the first flight scheme is smaller than the remaining electric quantity of the unmanned aerial vehicle, the unmanned aerial vehicle immediately returns to the flying spot of the unmanned aerial vehicle, and in the return process, the unmanned aerial vehicle returns to the flying spot of the unmanned aerial vehicle by using the first flight scheme.

In the above embodiment, when the unmanned aerial vehicle returns to the departure point, the unmanned aerial vehicle flies according to the first flight scheme, so that the stability of the unmanned aerial vehicle flying in the return process is ensured.

The unmanned aerial vehicle in the embodiment of the application is described from the module angle as follows:

This unmanned aerial vehicle includes:

The acquiring module 501 is configured to acquire weather information on a first flight path according to a first flight instruction sent by a user terminal, where the first flight instruction includes location information of the destination, and the weather information includes a plurality of first wind speeds, a plurality of first rainfall and a plurality of first magnetic field intensities on the first flight path;

the calculation module 502 is configured to input, by the unmanned aerial vehicle, a first wind speed, a first rainfall, and a first magnetic field intensity at a current position of the unmanned aerial vehicle into a flight control function to obtain a first target pitch angle, a first target roll angle, and a first target heading angle of the unmanned aerial vehicle in a flight process, where the first wind speed, the first rainfall, and the first magnetic field intensity are any one of the plurality of first wind speeds, the plurality of first rainfall, and the plurality of first magnetic field intensities;

a processing module 503, configured to obtain a first flight scenario according to the first target pitch angle, the first target roll angle, and the first target heading angle by using the unmanned aerial vehicle;

The control module 504 is configured to enable the unmanned aerial vehicle to fly using the first flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the first target pitch angle, the first target roll angle, and the first target heading angle.

The unmanned aerial vehicle in the embodiment of the present application is described above from the point of view of the modularized functional entity, and the unmanned aerial vehicle in the embodiment of the present application is described below from the point of view of hardware processing:

It should be noted that the configuration of the unmanned aerial vehicle shown in fig. 6 is only an example, and should not impose any limitation on the functions and the application scope of the embodiment of the present invention.

As shown in fig. 6, the unmanned aerial vehicle includes a central processing unit (Central Processing Unit, CPU) 601 that can perform various appropriate actions and processes, such as performing the method in the above-described embodiment, according to a program stored in a Read-Only Memory (ROM) 602 or a program loaded from a storage portion 608 into a random access Memory (Random Access Memory, RAM) 603. In the RAM 603, various programs and data required for the operation of the unmanned aerial vehicle are also stored. The CPU 601, ROM602, and RAM 603 are connected to each other through a bus 604. An Input/Output (I/O) interface 605 is also connected to bus 604.

The following components are connected to the I/O interface 605: an input portion 606 including a camera, an infrared sensor, etc.; an output portion 607 including a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The drive 610 is also connected to the I/O interface 605 as needed. Removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on drive 610 so that a computer program read therefrom is installed as needed into storage section 608.

In particular, according to embodiments of the present invention, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 609, and/or installed from the removable medium 611. When executed by a Central Processing Unit (CPU) 601, the computer program performs the various functions defined in the present invention.

It should be noted that, the computer readable medium shown in the embodiments of the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

As another aspect, the present invention also provides a computer-readable storage medium, which may be contained in the unmanned aerial vehicle described in the above embodiment; or may be present alone without being fitted into the drone. The storage medium carries one or more computer programs which, when executed by a processor of the drone, cause the drone to implement the methods provided in the embodiments described above.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

As used in the above embodiments, the term "when …" may be interpreted to mean "if …" or "after …" or "in response to determination …" or "in response to detection …" depending on the context. Similarly, the phrase "at the time of determination …" or "if detected (a stated condition or event)" may be interpreted to mean "if determined …" or "in response to determination …" or "at the time of detection (a stated condition or event)" or "in response to detection (a stated condition or event)" depending on the context.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk), etc.

Those of ordinary skill in the art will appreciate that implementing all or part of the above-described method embodiments may be accomplished by a computer program to instruct related hardware, the program may be stored in a computer readable storage medium, and the program may include the above-described method embodiments when executed. And the aforementioned storage medium includes: ROM or random access memory RAM, magnetic or optical disk, etc.

Claims

1. The unmanned aerial vehicle flight control method in thunderstorm weather is characterized by comprising the following steps:

the unmanned aerial vehicle acquires weather information on a first flight route according to a first flight instruction sent by a user terminal, wherein the weather information comprises a plurality of first wind speeds, a plurality of first rainfall and a plurality of first magnetic field intensity on the first flight route;

The unmanned aerial vehicle inputs a first wind speed, a first rainfall and a first magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function to obtain a first target pitch angle, a first target roll angle and a first target course angle of the unmanned aerial vehicle in the flight process, wherein the first wind speed, the first rainfall and the first magnetic field intensity are any one of a plurality of first wind speeds, a plurality of first rainfall and a plurality of first magnetic field intensity, and the flight control function is as follows:

In the formula, theta _g is the target pitch angle, For the target roll angle, ψ _g is the target heading angle, θ is the actual pitch angle,/>For the actual roll angle, ψ is the actual heading angle,/>As pitch transfer function,/>As roll angle transfer function,/>As a course angle transfer function, delta _e is a rudder lifting angle, delta _a is an aileron rudder angle, delta _r is a rudder angle,/>AndGain for proportional link,/>/>The differential link gain is C is wind speed, V is rainfall, and T is magnetic field intensity;

the unmanned aerial vehicle obtains a first flight scheme according to the first target pitch angle, the first target roll angle and the first target course angle;

the unmanned aerial vehicle flies by using the first flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the first target pitch angle, the first target roll angle and the first target course angle.

2. The method of claim 1, wherein the method further comprises, after the unmanned aerial vehicle is flown using the first flight scheme to cause the unmanned aerial vehicle to adjust a flight attitude based on the first target pitch angle, the first target roll angle, and the first target heading angle:

under the condition that the unmanned aerial vehicle confirms that a second flight instruction sent by the user terminal is received, the unmanned aerial vehicle determines that a route with the shortest flight distance for the unmanned aerial vehicle to reach the destination is a second flight route;

The unmanned aerial vehicle acquires weather information on the second flight route, wherein the weather information comprises a plurality of second wind speeds, a plurality of second rainfall and a plurality of second magnetic field intensities on the second flight route;

the unmanned aerial vehicle inputs a second wind speed, a second rainfall and a second magnetic field intensity of the current position of the unmanned aerial vehicle into the flight control function to obtain a second target pitch angle, a second target roll angle and a second target course angle of the unmanned aerial vehicle in the flight process, wherein the second wind speed, the second rainfall and the second magnetic field intensity are any one of the plurality of second wind speeds, the plurality of second rainfall and the plurality of second magnetic field intensity;

the unmanned aerial vehicle obtains a second flight scheme according to the second target pitch angle, the second target roll angle and the second target course angle;

the unmanned aerial vehicle flies by using the second flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the second target pitch angle, the second target roll angle and the second target course angle.

3. The method of claim 1, wherein the method further comprises, after the unmanned aerial vehicle is flown using the first flight scheme to cause the unmanned aerial vehicle to adjust a flight attitude based on the first target pitch angle, the first target roll angle, and the first target heading angle:

Under the condition that the unmanned aerial vehicle confirms to receive a third flight instruction sent by the user terminal, acquiring a route with the minimum wind speed, the minimum rainfall and the minimum magnetic field intensity in a preset range, wherein the preset range is a circular range with the destination as a circle center and the distance from the destination to a take-off place of the unmanned aerial vehicle as a radius;

The unmanned aerial vehicle determines a route with the minimum wind speed, the minimum rainfall and the minimum magnetic field strength as a third flight route; the unmanned aerial vehicle acquires weather information on the third flight route, wherein the weather information comprises a plurality of third wind speeds, a plurality of third rainfall and a plurality of third magnetic field intensities on the third flight route;

the unmanned aerial vehicle inputs a third wind speed, a third rainfall and a third magnetic field intensity of the current position of the unmanned aerial vehicle into the flight control function to obtain a third target pitch angle, a third target roll angle and a third target course angle of the unmanned aerial vehicle in the flight process, wherein the third wind speed, the third rainfall and the third magnetic field intensity are any one of the plurality of third wind speeds, the plurality of third rainfall and the plurality of third magnetic field intensity;

The unmanned aerial vehicle obtains a third flight scheme according to the third target pitch angle, the third target roll angle and the third target course angle;

The unmanned aerial vehicle flies by using the third flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the third target pitch angle, the third target roll angle and the third target course angle.

4. The method of claim 1, wherein the method further comprises, after the unmanned aerial vehicle is flown using the first flight scheme to cause the unmanned aerial vehicle to adjust a flight attitude based on the first target pitch angle, the first target roll angle, and the first target heading angle:

under the condition that the unmanned aerial vehicle confirms that a fourth flight instruction sent by the user terminal is received, acquiring a route with the minimum rainfall and the shortest flight distance of the unmanned aerial vehicle to the destination within a preset range;

The unmanned aerial vehicle determines a route with the minimum rainfall and the shortest flight distance of the unmanned aerial vehicle reaching the destination as a fourth flight route;

The unmanned aerial vehicle acquires weather information on the fourth flight route, wherein the weather information comprises a plurality of fourth wind speeds, a plurality of fourth rainfall and a plurality of fourth magnetic field intensities on the fourth flight route;

The unmanned aerial vehicle inputs a fourth wind speed, a fourth rainfall and a fourth magnetic field intensity of the current position of the unmanned aerial vehicle into the flight control function to obtain a fourth target pitch angle, a fourth target roll angle and a fourth target course angle of the unmanned aerial vehicle in the flight process, wherein the fourth wind speed, the fourth rainfall and the fourth magnetic field intensity are any one of the fourth wind speeds, the fourth rainfall and the fourth magnetic field intensity;

the unmanned aerial vehicle obtains a fourth flight scheme according to the fourth target pitch angle, the fourth target roll angle and the fourth target course angle;

The unmanned aerial vehicle flies by using the fourth flight scheme, so that the unmanned aerial vehicle adjusts the flight attitude according to the fourth target pitch angle, the fourth target roll angle and the fourth target course angle.

5. The method of claim 1, wherein after the drone obtains a first flight plan from the first target pitch angle, the first target roll angle, and the first target heading angle, the method further comprises:

The unmanned aerial vehicle determines the electric quantity required to be used by the first flight scheme;

The unmanned aerial vehicle judges whether the electric quantity required by the first flight scheme is larger than the residual electric quantity of the unmanned aerial vehicle;

And if the electric quantity required by the first flight scheme is smaller than the residual electric quantity of the unmanned aerial vehicle, the unmanned aerial vehicle immediately returns to the flying spot of the unmanned aerial vehicle.

6. The method of claim 5, wherein if the amount of power required for the first flight scenario is less than the remaining amount of power of the drone, the drone returns immediately after the point of departure of the drone, the method further comprising: the unmanned aerial vehicle returns to the unmanned aerial vehicle's departure point using the first flight scheme.

7. An unmanned aerial vehicle, comprising:

The system comprises an acquisition module, a first control module and a second control module, wherein the acquisition module is used for acquiring weather information on a first flight route according to a first flight instruction sent by a user terminal, the first flight instruction comprises position information of a destination, and the weather information comprises a plurality of first wind speeds, a plurality of first rainfall and a plurality of first magnetic field intensity on the first flight route;

the calculation module is used for inputting a first wind speed, a first rainfall and a first magnetic field intensity of the current position of the unmanned aerial vehicle into a flight control function by the unmanned aerial vehicle to obtain a first target pitch angle, a first target roll angle and a first target course angle of the unmanned aerial vehicle in the flight process, wherein the first wind speed, the first rainfall and the first magnetic field intensity are any one of the first wind speeds, the first rainfall and the first magnetic field intensity, and the flight control function is as follows:

The processing module is used for the unmanned aerial vehicle to obtain a first flight scheme according to the first target pitch angle, the first target roll angle and the first target course angle;

8. An unmanned aerial vehicle, comprising: one or more processors and memory;

The memory is coupled with the one or more processors, the memory for storing computer program code comprising computer instructions that the one or more processors invoke to cause the drone to perform the method of any of claims 1-6.

9. A computer readable storage medium comprising instructions that, when run on a drone, cause the drone to perform the method of any one of claims 1-6.